TWI400875B - Device for controlling a motor speed - Google Patents

Description

Motor speed control device

The present invention relates to a motor speed control device that uses feedback control to control the rotational speed of a motor.

The speed control of the motor can be performed by obtaining a pulse signal PI whose period changes in accordance with the rotational speed ω of the motor from the motor module. The motor speed control device measures the period τ _P of the pulse appearing in the pulse signal, and detects the rotational speed ω of the motor based on the period, thereby performing feedback back control so that the rotational speed ω becomes the target value ω _T .

If the two kinds of pulse signals PI generated by synchronizing the rotational positions that are different from each other by 90° are obtained from the electric motor, the rotational direction of the electric motor can be discriminated in the motor speed control device.

Patent Document 1: Japanese Patent Laid-Open No. Hei 8-126374

However, in the case where only one pulse signal PI can be obtained from the motor, even if the magnitude of the rotational speed can be detected based on the pulse period τ _P , the direction of the rotational speed cannot be discerned. Therefore, for example, there is a problem that, due to chattering or the like generated in the pulse signal PI, once an error occurs in the measured value of the pulse period τ _P , there is a possibility that the control to the target rotational speed is released, and the motor is reversed. out of control. For example, in a state where the rotation speed is erroneously detected to be larger than the actual value in a state of rotating at the target rotation speed in the forward direction and the low speed, the feedback control returns the rotation speed to the target rotation speed. As a result, it moves from the actual low-speed rotation state to the negative rotation speed, causing the rotation direction to reverse. When the absolute value of the reverse rotation speed is larger than the absolute value of the target rotation speed, the motor speed control device recognizes the rotation state that is the positive direction and is faster than the target rotation speed, and continues to further move the rotation speed in the negative direction. As a result, the rotation speed reaches the maximum value in the negative direction, and the motor becomes the reverse runaway state.

The present invention has been made in order to solve the above problems, and an object of the invention is to provide a motor speed control device capable of detecting a reverse runaway state based on only one type of pulse signal and returning it to a normal state.

The motor speed control device according to the present invention includes a feedforward control unit that inputs a target set value for setting a magnitude and a direction of a target rotational speed of the motor, and generates a target command signal based on the target set value to perform a rotational speed of the motor. a feedforward control that is the target rotational speed; a feedback control unit that generates an error signal corresponding to a difference between the current rotational speed and the target rotational speed, and generates a compensation command signal based on the error signal to perform the rotational speed adjustment a feedback control for the target rotation speed; a drive control unit that generates a composite signal obtained by combining the target command signal and the compensation command signal, controls driving of the motor based on the composite signal; and a reverse runaway determination unit that The compensation command signal or the composite signal is a monitoring target signal, and the direction of adjustment of the rotation speed of the monitoring target signal is opposite to the direction of the target rotation speed, and the intensity of the monitoring target signal exceeds a predetermined threshold value. The state continues When the predetermined period, it is determined that the motor In a reverse runaway state that is out of control in a direction opposite to the target rotational speed, the reverse runaway determination unit includes a cycle measuring unit that outputs a periodic signal synchronized with the rotation of the motor during one rotation of the motor. The cycle is determined, and the magnitude of the rotational speed of the motor is determined based on the output value of the cycle measuring unit.

The motor speed control device can know the magnitude of its rotational speed from the motor but cannot directly know the direction of its rotation. On the other hand, the motor speed control device knows the direction of the target rotational speed, and also knows to what extent the rotational speed is to be changed in accordance with the compensation command signal or the composite signal. According to the present invention, with information grasped from these target rotational speeds and compensation command signals or composite signals, for the reverse runaway state, the direction of adjustment of the rotational speed is opposite to the direction of the target rotational speed and the intensity of the adjustment of the rotational speed is very large. In the case where the state continues, it can be inferred whether or not the state is reversed. The reverse runaway state results from feedback control. When the motor speed control device of the present invention detects the reverse runaway state, the motor can be braked to be out of the reverse runaway state, and quickly returned to the state that can be feedback controlled to restore the normal control state.

Hereinafter, an embodiment of the present invention (hereinafter referred to as an embodiment) will be described based on the drawings.

[Configuration of device]

Fig. 1 is a schematic block diagram for explaining a functional configuration of a motor speed control device 20 according to the embodiment. The motor speed control device 20 is operated by an MPU (Micro Processing Unit) 22 to set a parameter such as a control target value, and generates a PWM (Pulse Width Modulation) signal to the motor drive circuit 24. The motor drive circuit 24 has an H-bridge circuit that converts the PWM signal from the motor drive circuit 24 into a drive signal to the motor module 26 by an H-bridge circuit. The motor module 26 includes a DC motor, a drive target mechanism, and an encoder. The drive target mechanism is, for example, a zoom mechanism of the camera. The DC motor is rotatable at a rotational speed substantially proportional to the voltage of the drive signal from the motor drive circuit 24, and switches the direction of rotation in accordance with the polarity of the voltage. The encoder indirectly detects the amount of rotation of the DC motor directly or according to the amount of driving of the drive target mechanism. The encoder generates a pulse for each predetermined rotation angle of the DC motor and inputs it as a pulse signal PI to the motor speed control device 20.

The motor speed control device 20 has a drive target register 30, a target count value register 32, a control register 34, a feed forward filter 36, a pulse period measuring unit 38, a count clock generation circuit 40, Comparison circuit 42, feedback filter 44, synthesis circuit 46, PWM signal generation circuit 48, and bus 50. 2 is a block diagram of the drive target register 30, the feedforward filter 36, the feedback filter 44, and the synthesizing circuit 46 in the motor speed control device 20.

The drive target register 30 and the feedforward filter 36 constitute a feedforward control unit that generates a target command signal determined based on the target rotational speed ω _T and targets the rotational speed of the motor by feedforward control spinning speed.

The drive target register 30 memorizes the target set value Kr set in accordance with the target rotational speed ω _{T of the} motor. A target setting value Kr, given set value proportional to the magnitude of the absolute value of the target rotational speed ω _T and the target rotational speed ω _T direction (rotational direction) should be relatively symbols. The target set value Kr is stored in the drive target register 30 by the MPU 22.

The feedforward filter 36 generates a target command signal based on the target set value Kr stored in the drive target register 30. As shown in Fig. 2, the feedforward filter 36 has a filter 60 and a multiplier 62 having a transfer function corresponding to the motor to be controlled. The target set value Kr read out from the drive target register 30 is input to the multiplier 62 via the filter 60. In the motor speed control device 20, although the target rotational speed ω _T can be variably set, the multiplication coefficient (gain) Ks of the multiplier 62 is set to a fixed value that does not depend on the target rotational speed ω _T that is set to be variable. The multiplier 62 multiplies the output signal of the filter 60 corresponding to the target set value Kr by Ks to generate a target command signal.

Ks can be determined as an upper limit value ω _MAX of an adjustable range that is preset for the target rotational speed ω _T . In this case, as the target set value Kr, the relative value obtained by dividing the target rotational speed ω _T by the set upper limit value ω _MAX is set.

The target count value register 32, the pulse period measuring unit 38, and the feedback filter 44 constitute a feedback control unit that generates an error signal Ve corresponding to the difference between the current rotational speed ω and the target rotational speed ω _T , and based on the error signal Ve The compensation command signal is generated to perform feedback control that causes the rotational speed ω to approach the target rotational speed ω _T .

The pulse period measuring unit 38 receives the pulse signal PI from the motor module 26, and detects a pulse appearing in the pulse signal PI. This pulse is basically generated in accordance with the rotation of the motor, and the pulse period τ _P changes inversely proportional to the rotational speed ω of the motor. The pulse period measuring unit 38 measures the pulse period τ _P by the count clock (reference clock) CLK. In other words, the pulse period measuring unit 38 counts the count clock CLK at the pulse period τ _P at the current rotational speed ω, and obtains the measured count value C corresponding to the pulse period τ _P .

The count clock generation circuit 40 divides the master clock having a predetermined frequency to generate the count clock CLK, and supplies it to the pulse period measuring unit 38. The count clock generation circuit 40 changes the frequency F _{C of} the count clock CLK in accordance with the target rotational speed ω _{T of} the motor, and causes the count value C of the pulse period measuring unit 38 at the pulse period τ _P corresponding to the target rotational speed ω _{T .} It becomes a fixed target count value C _{N that} does not depend on the target rotational speed ω _T . For example, the count clock generation circuit 40 can keep the target count value C _N constant by changing the frequency F _C in proportion to the target set value Kr by using the target set value Kr stored in the drive target register 30.

The target count value register 32 is set to the target count value C _N . The comparison circuit 42 obtains a difference (CC _N ) between the measured count value C output from the pulse period measuring unit 38 and the target count value C _N stored in the target count value register 32, and generates an error signal Ve corresponding to the difference.

The feedback filter 44 generates a compensation command signal for adjusting the rotational speed ω to the target rotational speed ω _T based on the error signal Ve. As shown in FIG. 2, the feedback filter 44 has a PID filter 64 and a multiplier 66. The error signal Ve from the comparison circuit 42 is input to the PID filter 64. The PID filter 64 performs P operation, I operation, and D operation in parallel with the error signal Ve, and adds and combines these processing results and outputs them.

The multiplier 66 multiplies the output of the PID filter 64 by a coefficient (magnification) and outputs it. The output signal of the multiplier 66 is output from the feedback filter 44 as a compensation command signal.

Here, the magnification of the multiplier 66 is set to a value proportional to the target rotational speed ω _T . Thereby, the compensation command signal is scaled at a magnification corresponding to the target rotational speed ω _T . In the present embodiment, the target set value Kr is defined by the relative value of the target rotational speed ω _T to the upper limit value ω _MAX as described above, and the multiplier of the multiplier 66 is set to the target set value Kr stored in the drive target register 30. . In other words, when the target set value Kr is set by the MPU 22 to the drive target register 30, the absolute value is automatically used as the magnification of the multiplier 66, and it is not necessary to separately set the magnification.

The synthesizing circuit 46 and the PWM signal generating circuit 48 constitute a drive control unit that controls the driving of the motor. The synthesizing circuit 46 adds the target command signal output from the feedforward filter 36 and the compensation command signal output from the feedback filter 44 to generate a composite signal. The PWM signal generating circuit 48 generates a PWM signal whose duty ratio changes according to the value of the composite signal, and outputs it to the motor drive circuit 24.

Further, the MPU 22 rewrites the parameters stored in the control register 34, and the operation and processing contents of the respective portions of the motor speed control device 20 can be controlled via the parameters.

As described above, the motor speed control device 20 changes the frequency F _{C of} the count clock CLK in accordance with the target rotational speed ω _T , and maintains the target count value in the pulse period τ _P at a constant value C that does not depend on the target rotational speed ω _T . _N. Thereby, the weight β of the count value C _N per unit amount of the frequency F _P of the pulse signal PI becomes β=C _N /F _P . An error signal Ve generated based on the count value _CN having the weight β is input to the feedback filter 44. Further, the motor speed control device 20 multiplies the multiplier 66 of the feedback filter 44 by a magnification proportional to the target rotational speed ω _T to perform magnification scaling on the compensation command signal. Since the magnification is proportional to the frequency F _P , the gain of the feedback control in the motor speed control device 20 becomes a value corresponding to the product of the weight β and the magnification of the multiplier 66, and becomes a value that does not depend on the target rotational speed ω _T . A certain value.

On the other hand, the target set value Kr can be made not to be a relative value of the target rotational speed ω _T to the upper limit value ω _MAX , but may be, for example, the target rotational speed ω _T itself. In this case, in the above configuration, the gain of the multiplier 62 may be set to 1, or the multiplier 62 itself may be omitted.

In the above configuration, when the target rotational speed ω _T is changed, the magnification of the multiplier 66 is automatically set by the content of the drive target register 30. On the other hand, even if the target rotational speed ω _T is changed, the target count value C _N does not change, so it is not necessary to change the content of the target count value register 32.

Incidentally, even in the conventional configuration in which the target count value in the pulse period τ _P is not kept constant, the gain of the feedback control can be made by merely providing the multiplier 66 and changing the magnification by the square of F _P . It becomes a certain value that does not depend on ω _T . However, while increasing the magnification, the load of the digital operation in the multiplier 66 is increased. When the magnification is changed by the square of F _P , for example, when the F _{P is} changed by 100 times, the magnification has to be changed by 10,000 times. This means that in the case where the multiplier 66 is constituted by a fixed-point digital operator, it is necessary to assume that the number of bits of operation is changed by 14 bits, so that the increase in processing load and circuit scale becomes large. On the other hand, in the configuration of the present embodiment, the fluctuation range of the number of calculation bits when the F _P changes by 100 times becomes 7 bits, and the burden is relatively reduced.

Further, the processing of the digital filter such as the PID filter 64 can basically be constituted by addition and multiplication. In the present embodiment, the multiplier 66 is added to the feedback filter 44, and no division is required. Therefore, the multiplication processing of the multiplier 66 can be realized by sharing an ALU (Arithmetic Logic Unit) that performs an operation of counting the digital filter. Thereby, it is possible to prevent the additional multiplier 66 from being a separate circuit, and it is possible to reduce the circuit scale.

Further, the multipliers 66 may be disposed before the PID filter 64 or at respective operations of P, I, and D in the PID filter 64.

[Operation at the time of target rotation speed ω _T switching]

Next, the operation of the motor speed control device 20 will be described. The motor speed control device 20 is provided with a feedforward control means including a feedforward filter 36, and a feedback control means including a feedback filter 44, which substantially operate in parallel. In the steady state, the feedforward control mainly plays the role of maintaining the DC level at the target rotational speed ω _T within the rotational speed ω _. The feedback control plays a leading role in the convergence of the AC component with a relatively small amplitude overlapping with the DC level. .

In order to further improve the transient response at the time of starting the rotation of the motor or the switching of the other target rotational speed ω _T , the motor speed control device 20 can temporarily stop the feedback control at the time of switching the target rotational speed ω _T .

In this action, it is judged whether the current rotational speed ω is within a predetermined range R _Δ with respect to the target rotational speed ω _T , and when the range is outside the range R _Δ , only the feedforward control means and the feedforward control unit in the feedback control means are made The action, on the other hand, operates both in the range R _Δ .

For example, a predetermined threshold Δ _ω can be set to be defined as Then, within the range R _Δ , if |ω−ω _T |>Δ _ω is outside the range R _Δ .

Whether or not it is within the range R _Δ can be judged based on the error signal Ve, for example. Therefore, the feedback filter 44 can be made to have a function switching function of performing the above-described determination based on the error signal Ve to stop or restart the operation of the PID filter 64.

One method of switching the motion is to switch the progress of the feedback control (on)/off (off) according to the comparison result of the deviation of the rotational speed |ω-ω _T | and the threshold Δ _ω as described above. In this method, even if the target rotational speed ω _T changes, if the deviation is less than the threshold Δ _ω , the feedback control is not stopped, and on the other hand, if the target rotational speed ω _{T does} not change, if the deviation is greater than the threshold Δ _{When ω is} large, the feedback control is stopped. As another method, if the target rotational speed ω _T is changed, the feedback control is temporarily stopped regardless of the magnitude of the deviation, and when the deviation is detected to be less than the threshold value, the feedback control is restarted.

By this operation, a large deviation occurring at the time of switching the target rotational speed ω _{T or} the like is less likely to remain in the calculation result of the feedback filter 44, and the overshoot of the rotational speed ω over the target rotational speed ω _T can be removed or reduced ( Overshoot). Further, from this point of view, it is preferable that the feedback filter 44 resets the result of the calculation so far to the initial state when the operation thereof is stopped.

Further, in the present embodiment, the rotational speed ω is represented by the count value of the count clock CLK in the pulse period τ _P . Therefore, whether or not it is within the range R _Δ can be determined based on the difference (CC _N ) between the measured count value C and the target count value C _N . For example, a predetermined threshold Δ _C can be set to define as |CC _N | Δ _C is in the range R _Δ , and if |CC _N |> Δ _C is outside the range R _Δ .

[Measurement of pulse period τ _P ]

In order to grasp the rotational speed ω, the pulse period measuring unit 38 counts the count clock CLK to measure the pulse period τ _P . Therefore, when the detection accuracy of the edge of the pulse in the pulse signal PI is low, the accuracy of the speed control of the motor also decreases. Therefore, it is desirable to mitigate the effects of noise such as chatter that may occur at the pulse end.

Fig. 3 is a signal waveform diagram for explaining a pulse period measuring method of the motor speed control device 20. In the third diagram, the horizontal axis is the time axis, and the falling edge (back end) detection signal TE of the pulse in the clock pulse CLK, the pulse signal PI, PI, the falling edge period count value NT, and the pulse rise are respectively counted. The edge (front end) detection signal LE, the rising edge period count value NL, and the count value C associated with the pulse period τ _P are represented by aligning the time axes in the vertical direction.

In the example shown in Fig. 3, the motor pulse speed control device 20 shifts the target pulse appearing in the pulse signal PI input from the motor module 26 to the motor speed control device 20 according to the transition from the L level state to the H level state. The pulse end measures the pulse period τ _P .

The pulse period measuring unit 38 samples the pulse signal PI at a timing of, for example, a rising edge of the count clock CLK supplied from the count clock generating circuit 40 (state detecting step). Further, in Fig. 3, the wobbling of the waveform 4 at the edges before and after the pulse 2 of the pulse signal PI is shown.

The pulse period measuring unit 38 can start measuring the pulse period τ _P when the sample value changes from the L level to the H level. Specifically, the pulse period measuring unit 38 detects a change from the L level to the H level of the sample value as the rising edge of the pulse signal PI, and causes the rising edge detection signal LE to generate the pulse 70. The width of the pulse 70 is one cycle τ _CLK of the count clock _CLK . When the pulse 70 rises, the pulse period measuring unit 38 outputs the count value NL of the current time of the rising edge period counter that counts the pulse period τ _P as the measured count value C (pulse period), except for the case where the exception processing is performed later. The measurement of τ _P is completed). Then, the pulse period measuring unit 38 enters the measurement of the new pulse period τ _P from the period of the next counting clock CLK (time T1). In other words, the pulse period measuring unit 38 resets the count value NL to 0 at time T1, and starts incrementing the count value NL by one every time in synchronization with the count clock CLK.

The pulse period measuring unit 38 starts the counting of the predetermined suppression period Pd (the suppression period counting step) when the sample value changes from the H level to the L level. Specifically, the pulse period measuring unit 38 detects a change from the H level to the L level of the sample value as the falling edge of the pulse signal PI, and causes the falling edge detection signal TE to generate the pulse 72. The width of pulse 72 is τ _CLK . When the pulse 72 rises, the pulse period measuring unit 38 stops the counting of the falling edge period counter up to now, and starts the counting of the new suppression period Pd from the period of the next counting clock CLK (time T1). That is, the pulse period measuring unit 38 increments the count value NT by one every time after the count value NT is reset to 0 at the falling edge of the pulse 72, and starts counting with the count clock CLK.

The change from the L level to the H level of the pulse signal PI is interpreted as the rising edge of the target pulse of the measurement target belonging to the pulse period τ _P in the absence of noise such as chatter. Therefore, when the pulse 70 has occurred, as described above, the measurement of the pulse period τ _P up to now can be ended, and the measurement of the next pulse period τ _P can be started. However, when there is noise such as chattering, the pulse signal PI changes from the L level to the H level when the rising edge of the noise pulse such as flutter occurs, and the pulse period measuring unit 38 detects the change and occurs. Pulse 70.

The noise may generate a falling edge of the pulse signal PI and a rising edge thereafter in the middle of the target pulse. The fluctuation of the pulse signal PI occurs substantially in a very short period of time compared to the original H-level duration of the destination pulse. Therefore, as an exception process when the pulse 70 is generated in the rising edge detection signal LE, the pulse period measuring unit 38 determines that the elapsed time from the pulse 72 based on the preceding falling edge to the pulse 70 is less than the predetermined suppression period. The fluctuation of the pulse signal PI is caused by the noise, and the measurement of the pulse period τ _P which is currently being performed is continued.

The above-described suppression period Pd counted by the count value NT of the falling edge period counter is used for the determination, and is set based on the assumed value of the period of the wobbling generated at the destination pulse end.

In the example shown in FIG. 3, the suppression period Pd is set to 2 clocks of the count clock CLK. If the count value NT when the pulse 70 occurs is less than "2", the pulse period measuring unit 38 continues the increment of the count value NL (for example, the times T2, T3, T4), and on the other hand, if the count value of the pulse 70 occurs, the count value NT When it is "2" or more, the count value NL at that time point is output as the measured count value C indicating the pulse period τ _P , and the rising edge period counter is reset to start the measurement of the next pulse period τ _P (for example, the timing T5).

The detection position of the edge of the target pulse appearing in the pulse signal PI of the conventional method becomes the timing after the end of the wobbling. Therefore, the measured value of the pulse period is mutated due to the variation of the duration of the wobbling, and a delay occurs in the detection of the pulse period τ _P .

On the other hand, according to the method of the motor speed control means measures the pulse period τ _P 20, as the start pulse period τ _P from the measurement signal before the end of the rising pulse edge flutter PI, on the other hand, as the pulse wobbling When the short period is interrupted, the measurement of the pulse period τ _P is continued. Thereby, the case where the chattering is erroneously detected as the target pulse is suppressed. Further, according to this measurement method, it is possible to perform pulse period measurement that is not affected by variations in the wobbling period of the tip end portion of the pulse. Therefore, the pulse period τ _P can be measured with high precision. Further, since the delay until the detection of the pulse period τ _P is reduced, the stability of the motor speed control and the like can be improved.

The period of substantially dithering is proportional to the pulse period τ _{P of the} pulse signal PI. That is, it is preferable that the suppression period Pd is also proportional to the pulse period τ _P . Here, since the motor speed control device 20 changes the frequency F _{C of} the count clock CLK in accordance with the target rotational speed ω _T , the suppression period Pd that changes in proportion to the pulse period τ _P is represented by the number of clocks of the count clock CLK. Then, it becomes a constant value that does not depend on the rotational speed ω. In other words, at the rising edge of the pulse signal PI (when the pulse 70 is generated), it is determined whether or not there is a threshold value of the count value NT of the falling edge period counter used for the suppression period Pd ("2" in the example of Fig. 3) It may be a certain value that does not depend on the rotational speed ω.

[Countermeasures for reversing out of control]

Since the pulse signal PI input from the motor module 26 to the motor speed control device 20 is only one phase, the motor speed control device 20 cannot discriminate the direction of the rotational speed. It is possible for the motor speed control device 20 to generate a reverse runaway of the motor. However, when the motor speed control device 20 is in the reverse runaway state, it is possible to detect the reverse runaway state and return it to the normal state. The motor speed control device 20 includes a reverse runaway determination unit (not shown) that determines the reverse runaway state, and a recovery processing unit (not shown) that returns to the normal state. The inversion runaway determination unit and the restoration processing unit can be, for example, the pulse period measurement unit 38, the count clock generation circuit 40, the feedback filter 44, the PWM signal generation circuit 48, and the motor speed control device 20 such as the control register 34. Each unit is realized by a contact operation via the bus bar 50. Further, as the reverse runaway determination unit and the restoration processing unit, independent circuit blocks not shown in the first drawing may be provided, and each unit of the motor speed control device 20 may be integrated. This integration control can also be implemented by the MPU 22, in which case the MPU 22 forms part of the motor speed control device of the present invention.

The reverse runaway determination unit uses the composite signal generated by the synthesizing circuit 46 as a monitoring target signal. When the direction of adjustment of the rotational speed ω of the monitoring target signal is opposite to the direction of the target rotational speed ω _T and the state of the intensity of the monitoring target signal exceeds the predetermined threshold value for a predetermined period of time, the reverse rotation control unit determines that the motor is present. The reverse runaway state that is out of control in the opposite direction to the target rotational speed ω _T . When the reverse runaway determination unit detects the reverse runaway state, the recovery processing unit returns the rotational speed ω from the reverse runaway state to the target rotational speed ω _T . Further, in the reverse runaway state, since the compensation command signal becomes a dominant signal as compared with the target command signal, the compensation command signal may be used as the monitoring target signal instead of the composite signal.

Fig. 4 is a flow chart for explaining the judgment operation of the reverse runaway state. When the reverse rotation control state is not detected, the motor speed control device 20 performs an operation under normal control (S5). The reverse runaway determination unit monitors the presence or absence of reverse runaway during the normal control operation (S10 to S25).

The direction of the target rotational speed ω _T can be grasped based on the sign of the target set value Kr set in the drive target register 30. On the other hand, the direction of adjustment of the rotational speed ω of the monitoring target signal can be grasped based on the sign of the composite signal. Therefore, whether or not the direction of adjustment of the rotational speed ω of the monitoring target signal is opposite to the direction of the target rotational speed ω _T can be determined by whether or not the sign of the target set value Kr is different from the sign of the synthesized signal (S10). If the symbols are the same, it is determined that the motor is not reversed out of control, and the normal control S5 is continued.

On the other hand, when the symbols are different, it is judged whether or not the intensity of the monitoring target signal, that is, the absolute value, exceeds the predetermined threshold value Vr (S15). When the absolute value of the combined signal is equal to or less than the threshold value Vr, it is determined that the motor is not reversed and the control is continued, and the normal control S5 is continued. The threshold value Vr can be set to a relatively large value such as to saturate the drive signal generated by the motor drive circuit 24.

When the absolute value of the composite signal exceeds the threshold value Vr, the operation of the watchdog timer is performed (S20). In the watchdog timer operation S20, the watchdog timer is started if the watchdog timer is in the stop state, and the watchdog timer value is incremented if it has been started.

The reverse runaway determination unit determines whether the watchdog timer value exceeds the predetermined value Tr (S25). The normal control S5 is continued while the watchdog timer value is equal to or less than Tr. During this period, if it is determined in the processes S10 and S15 that the reverse runaway is not the case, the watchdog timer is stopped and reset (S30). On the other hand, when the watchdog timer value exceeds Tr, it is determined that it is the reverse runaway state (S35), and the recovery operation to return to the normal state is started.

Figure 5 is a flow chart illustrating the recovery action to return to the normal state. Further, Fig. 6 is a view for explaining the recovery operation, and is a view showing the relationship between the rotational speed ω and the pulse period τ _P . In Fig. 6, the horizontal axis is the rotational speed ω, and the vertical axis is the pulse period τ _P .

After detecting the reverse runaway state, the motor speed control device 20 shifts to the brake control for braking the rotation of the motor (S50). In terms of the brake control, for example, the PWM signal generating circuit 48 sets the duty ratio of the PWM signal so that the motor drive circuit 24 causes the motor to generate the maximum driving force in the direction in which the rotation is stopped. Further, the brake control may be another method, and for example, a short-circuit brake that forcibly shorts the terminals of the motor to stop it may be employed.

Here, as described above, the feedback control is performed only in the predetermined range R _Δ including the target rotational speed ω _T , and in the case where only the feedforward control is performed outside the range R _Δ , the brake control is at the absolute value than the low-speed side boundary ω _L is set within a range smaller end of the brake end speed ω _BS, wherein the low speed side boundary ω _{L R} Δ is the range of lower and upper limits of the absolute value of the target rotational speed ω _T than small ones. For example, in the case where ω _T >0 shown in Fig. 6, the lower limit of the range R _Δ is ω _L .

Whether or not the rotational speed ω reaches the brake end speed ω _BS can be determined based on the measured count value C measured by the pulse period measuring unit 38. When the reverse runaway state is detected, the frequency F _{C of} the count clock CLK is changed from the value corresponding to the target rotational speed ω _{T to} the value corresponding to the brake end speed ω _BS (S55). Thereby, the measured count value C at the braking end speed ω _BS coincides with the target count value C _N stored in the target count value register 32, and the error signal Ve at this time becomes zero.

For example, when ω _BS is set in a range in which the sign is opposite to the target rotational speed ω _T , when braking is applied from the reverse runaway state, when ω reaches ω _BS , that is, within the range of |ω|>|ω _BS | When CC _N <0, ω = ω _BS , CC _N =0, ω exceeds ω _{BS and} further approaches the stop state, and |ω|<|ω _BS | becomes CC _N >0. Therefore, if the sign of the monitoring error signal Ve is Ve>0, it can be determined that the rotational speed ω exceeds the braking end speed ω _BS (S60).

Further, whether or not the rotational speed ω reaches the braking end speed ω _BS can be determined based on the sign of the target rotational speed ω _T (or the braking end speed ω _BS ) and the sign of the compensation command signal output from the feedback filter 44.

When the braking end speed ω _BS is reached, the normal control is returned (S65). In the recovery process S65 that returns to the normal control, the frequency F _{C of the} count clock CLK is returned to a value corresponding to the target rotational speed ω _T . Until ω reaches ω _L , the motor is accelerated by feedforward control. When ω reaches ω _L , in addition to the feedforward control, feedback control is started, and the recovery ω is maintained at the normal state of the target rotational speed ω _T . Further, in the case where the sign of ω _BS is set to be opposite to the target rotational speed ω _T , the motor is also rotated in the opposite direction to the target rotational speed ω _T at the time of returning to the normal control, but by feedforward control Further deceleration, and further rotation is started in the same direction as the target rotational speed ω _T by ω=0. Then, when ω = ω _L is reached, as described above, the feedback control is started.

Further, in the case where the range R _Δ for performing the feedback control is not set, that is, in the case where the feedforward control and the feedback control are always performed in parallel under the normal control, it is necessary to continue the brake control until the reverse runaway state is not caused again. The rotation speed ω is up.

In this case, the target rotational speed ω _T in the opposite direction of the same size speed (-ω _T) is to be reversed by the feedback control which led to loss of control or reach a critical watershed speed of the target rotational speed ω _T's. Therefore, when the range R _Δ is not set, the brake control is continued until the predetermined braking end speed ω _BS whose absolute value is smaller than the critical speed (-ω _T ), when it becomes |ω _Bs |>|ω| , return to the original normal control using feedforward control means and feedback control means.

As described above, in the control in which the range R _Δ is not set, the brake end speed ω _BS is basically set to a value whose absolute value is smaller than the critical speed (-ω _T ).

2, 70, 72. . . pulse

4. . . Waveform

20. . . Motor speed control device

twenty two. . . MPU

twenty four. . . Motor drive circuit

26. . . Motor module

30. . . Drive target register

32. . . Target count value register

34. . . Control register

36. . . Feedforward filter

38. . . Pulse period measurement unit

40. . . Counting clock generation circuit

42. . . Comparison circuit

44. . . Feedback filter

46. . . Synthetic circuit

48. . . PWM signal generation circuit

50. . . Busbar

60. . . filter

62, 66. . . Multiplier

64. . . PID filter

C. . . Count value

C _N . . . Target count value

CLK. . . Count clock (reference clock)

Kr. . . Target setting

Ks. . . Multiplication coefficient (gain)

LE. . . Rising edge detection signal

NL. . . Rising edge period count

T1 to T5. . . time

NT. . . Falling edge period count value

TE. . . Falling edge detection signal

PI. . . Pulse signal

Fig. 1 is a schematic block diagram for explaining a functional configuration of a motor speed control device according to an embodiment of the present invention.

Fig. 2 is a block diagram showing a drive target register, a feedforward filter, a feedback filter, and a synthesizing circuit of the motor speed control device according to the embodiment of the present invention.

Fig. 3 is a signal waveform diagram for explaining a pulse period measuring method of the motor speed control device according to the embodiment of the present invention.

Fig. 4 is a flow chart for explaining the operation of determining the reverse runaway state by the motor speed control device according to the embodiment of the present invention.

Fig. 5 is a flow chart for explaining a recovery operation of returning to a normal state by the motor speed control device according to the embodiment of the present invention.

Fig. 6 is a view showing a relationship between a rotation speed and a pulse period for explaining a recovery operation.

The representative figure has no component symbols and the meanings it represents.

Claims (3)

A motor speed control device includes a feedforward control unit that inputs a target set value for setting a magnitude and a direction of a target rotational speed of the motor, generates a target command signal based on the target set value, and causes a rotational speed of the motor to be the aforementioned Feedforward control of the target rotational speed; a feedback control unit that generates an error signal corresponding to the difference between the current rotational speed and the target rotational speed, generates a compensation command signal based on the error signal, and adjusts the rotational speed to the target a feedback control of the rotation speed; a drive control unit that generates a composite signal obtained by combining the target command signal and the compensation command signal, controls driving of the motor based on the composite signal; and a reverse runaway determination unit that adds the compensation command The signal or the composite signal is a monitoring target signal, and the state in which the direction of adjustment of the rotation speed of the monitoring target signal is opposite to the direction of the target rotation speed and the intensity of the monitoring target signal exceeds a predetermined threshold continues. Pre-regular When it is determined that the motor is in a reverse runaway state that is out of control in a direction opposite to the target rotational speed, the reverse runaway determination unit includes a cycle measuring unit that rotates the motor during one rotation of the motor. The period of the periodic signal outputted in synchronization is determined, and the magnitude of the rotational speed of the motor is determined based on the output value of the period measuring unit. For example, the motor speed control device of claim 1 of the patent scope, wherein The operation switching unit determines whether the current rotation speed is within a predetermined range with respect to the target rotation speed, and when the range is outside the range, only the feedforward control unit and the feedforward control unit of the feedback control unit are provided. Actuating, on the other hand, when both are within the above range, the recovery processing unit recovers the rotational speed from the reverse runaway state to the target rotational speed when the reverse runaway state is detected; When the recovery processing unit detects the reverse runaway state, it shifts to brake control for braking the rotation of the motor. When the rotation speed is lower than the low speed limit, the brake control is terminated, and the low speed limit is an upper limit of the range. The absolute value in the lower limit and the lower limit is smaller than the aforementioned target rotational speed. The motor speed control device according to the first aspect of the invention, further comprising: a recovery processing unit that recovers the rotation speed from the reverse runaway state to the target rotation speed when detecting the reverse runaway state; When detecting the reverse runaway state, the processing unit shifts to brake control for braking the rotation of the motor; when the rotation speed is lower than the critical speed, the brake control is ended, and the critical speed is compared with the target rotation speed. On the contrary, the size is the same.